Analysis of emergence by intelligent data carrier system for collective robots based on stochastic models

The paper is concerned with a system for emergent cooperative behaviors in a collective robot system using an intelligent data carrier (IDC). The IDC is an immobile but portable device (data carrier) for information storage and management. The paper focuses on a multiple robot navigation system using IDCs and provides the mathematical model describing the behavior of each robot with IDCs. The IDCs arrangement problem is formulated based on this mathematical model and the design method is provided. A numerical example shows that an optimal arrangement of IDCs can be obtained by using the provided method. The proposed method is the first step for providing an algorithm so that multiple robots can arrange IDCs autonomously under an unknown environment.